(A) False. An ellipsoid is a smooth mathematical surface approximating the Earth; it does not include the terrain/topography. WGS84 defines a reference (best–fit, global) ellipsoid, not a topographic surface.
(B) False. WGS84 and GRS80 are very close but not identical (slightly different defining constants/realizations). Saying they are “one and the same” is inaccurate.
(C) False. WGS84 is explicitly geocentric (Earth-Centered, Earth-Fixed frame).
(D) True. The geoid is determined relative to a reference ellipsoid. Using the WGS84 ellipsoid (together with a gravity model) one computes geoid undulation $N$ and thus the geoid. Hence WGS84 can be used to determine the geoid surface.
\[
\boxed{\text{(D)}}
\]